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<div class="title">correspondence_rejection_features.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2011, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
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<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
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<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
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<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#ifndef PCL_REGISTRATION_CORRESPONDENCE_REJECTION_FEATURES_H_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#define PCL_REGISTRATION_CORRESPONDENCE_REJECTION_FEATURES_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160; </div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/registration/correspondence_rejection.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/point_cloud.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/point_representation.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &lt;pcl/registration/boost.h&gt;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160; </div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;{</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  <span class="keyword">namespace </span>registration</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  {</div>
<div class="line"><a name="l00060"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_features.html">   60</a></span>&#160;    <span class="keyword">class </span>PCL_EXPORTS <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_features.html">CorrespondenceRejectorFeatures</a>: <span class="keyword">public</span> <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector.html">CorrespondenceRejector</a></div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    {</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector.html#a74d516ca516f7421fd86a53dec1a57b1">CorrespondenceRejector::input_correspondences_</a>;</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector.html#ab97eb70d3661574301fe1f978576726d">CorrespondenceRejector::rejection_name_</a>;</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector.html#aa5996af869d7aaa6b8b8dc156038dd3f">CorrespondenceRejector::getClassName</a>;</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160; </div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;CorrespondenceRejectorFeatures&gt; Ptr;</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;const CorrespondenceRejectorFeatures&gt; ConstPtr;</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160; </div>
<div class="line"><a name="l00071"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_features.html#a174740d3c2fc148de02786f973400358">   71</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_features.html#a174740d3c2fc148de02786f973400358">CorrespondenceRejectorFeatures</a> () : max_distance_ (std::numeric_limits&lt;float&gt;::max ()), features_map_ ()</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;        {</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;          rejection_name_ = <span class="stringliteral">&quot;CorrespondenceRejectorFeatures&quot;</span>;</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;        }</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160; </div>
<div class="line"><a name="l00077"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_features.html#abde5395e3dc6b27a1e876be81b981787">   77</a></span>&#160;        <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_features.html#abde5395e3dc6b27a1e876be81b981787">~CorrespondenceRejectorFeatures</a> () {}</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160; </div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;        <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00084"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_features.html#a165aeb9ae326d7114847d65f18213c58">   84</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_features.html#a165aeb9ae326d7114847d65f18213c58">getRemainingCorrespondences</a> (<span class="keyword">const</span> pcl::Correspondences&amp; original_correspondences, </div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;                                     pcl::Correspondences&amp; remaining_correspondences);</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160; </div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;        <span class="keyword">template</span> &lt;<span class="keyword">typename</span> FeatureT&gt; <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;        setSourceFeature (<span class="keyword">const</span> <span class="keyword">typename</span> pcl::PointCloud&lt;FeatureT&gt;::ConstPtr &amp;source_feature, </div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;                          <span class="keyword">const</span> std::string &amp;key);</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160; </div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;        <span class="keyword">template</span> &lt;<span class="keyword">typename</span> FeatureT&gt; <span class="keyword">inline</span> <span class="keyword">typename</span> pcl::PointCloud&lt;FeatureT&gt;::ConstPtr </div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;        getSourceFeature (<span class="keyword">const</span> std::string &amp;key);</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160; </div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;        <span class="keyword">template</span> &lt;<span class="keyword">typename</span> FeatureT&gt; <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;        setTargetFeature (<span class="keyword">const</span> <span class="keyword">typename</span> pcl::PointCloud&lt;FeatureT&gt;::ConstPtr &amp;target_feature, </div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;                          <span class="keyword">const</span> std::string &amp;key);</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160; </div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;        <span class="keyword">template</span> &lt;<span class="keyword">typename</span> FeatureT&gt; <span class="keyword">inline</span> <span class="keyword">typename</span> pcl::PointCloud&lt;FeatureT&gt;::ConstPtr </div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;        getTargetFeature (<span class="keyword">const</span> std::string &amp;key);</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160; </div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;        <span class="keyword">template</span> &lt;<span class="keyword">typename</span> FeatureT&gt; <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;        setDistanceThreshold (<span class="keywordtype">double</span> thresh, <span class="keyword">const</span> std::string &amp;key);</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160; </div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00128"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_features.html#a145abbc175dcab4a0b1137200ba48b45">  128</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_features.html#a145abbc175dcab4a0b1137200ba48b45">hasValidFeatures</a> ();</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160; </div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;        <span class="keyword">template</span> &lt;<span class="keyword">typename</span> FeatureT&gt; <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;        setFeatureRepresentation (<span class="keyword">const</span> <span class="keyword">typename</span> pcl::PointRepresentation&lt;FeatureT&gt;::ConstPtr &amp;fr,</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;                                  <span class="keyword">const</span> std::string &amp;key);</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160; </div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;      <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160; </div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00144"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_features.html#a5b0f8c3768a14e5d0d398856babab7dd">  144</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_features.html#a5b0f8c3768a14e5d0d398856babab7dd">applyRejection</a> (pcl::Correspondences &amp;correspondences)</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;        {</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;          getRemainingCorrespondences (*input_correspondences_, correspondences);</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;        }</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160; </div>
<div class="line"><a name="l00152"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_features.html#a0a544016dcac95c834bee6cd0e7aaf33">  152</a></span>&#160;        <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_features.html#a0a544016dcac95c834bee6cd0e7aaf33">max_distance_</a>;</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160; </div>
<div class="line"><a name="l00154"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_features_1_1_feature_container_interface.html">  154</a></span>&#160;        <span class="keyword">class </span><a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_features_1_1_feature_container_interface.html">FeatureContainerInterface</a></div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;        {</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;          <span class="keyword">public</span>:</div>
<div class="line"><a name="l00158"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_features_1_1_feature_container_interface.html#af793f259a122a8399ea95b04c0254fdf">  158</a></span>&#160;            <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_features_1_1_feature_container_interface.html#af793f259a122a8399ea95b04c0254fdf">~FeatureContainerInterface</a> () {}</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;            <span class="keyword">virtual</span> <span class="keywordtype">bool</span> isValid () = 0;</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;            <span class="keyword">virtual</span> <span class="keywordtype">double</span> getCorrespondenceScore (<span class="keywordtype">int</span> index) = 0;</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;            <span class="keyword">virtual</span> <span class="keywordtype">bool</span> isCorrespondenceValid (<span class="keywordtype">int</span> index) = 0;</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;        };</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160; </div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;        <span class="keyword">typedef</span> boost::unordered_map&lt;std::string, boost::shared_ptr&lt;FeatureContainerInterface&gt; &gt; FeaturesMap;</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160; </div>
<div class="line"><a name="l00167"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_features.html#a6f76384a2a270cbf2822287dc91fdc32">  167</a></span>&#160;        FeaturesMap <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_features.html#a6f76384a2a270cbf2822287dc91fdc32">features_map_</a>;</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160; </div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;        <span class="keyword">template</span> &lt;<span class="keyword">typename</span> FeatureT&gt;</div>
<div class="line"><a name="l00176"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_features_1_1_feature_container.html">  176</a></span>&#160;        <span class="keyword">class </span><a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_features_1_1_feature_container.html">FeatureContainer</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_features_1_1_feature_container_interface.html">pcl::registration::CorrespondenceRejectorFeatures::FeatureContainerInterface</a></div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;        {</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;          <span class="keyword">public</span>:</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;            <span class="keyword">typedef</span> <span class="keyword">typename</span> pcl::PointCloud&lt;FeatureT&gt;::ConstPtr FeatureCloudConstPtr;</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;            <span class="keyword">typedef</span> boost::function&lt;int (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;FeatureT&gt;</a> &amp;, <span class="keywordtype">int</span>, std::vector&lt;int&gt; &amp;, </div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;                                          std::vector&lt;float&gt; &amp;)&gt; SearchMethod;</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;            </div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;            <span class="keyword">typedef</span> <span class="keyword">typename</span> pcl::PointRepresentation&lt;FeatureT&gt;::ConstPtr PointRepresentationConstPtr;</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160; </div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;            <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_features_1_1_feature_container.html">FeatureContainer</a> () : thresh_(std::numeric_limits&lt;double&gt;::max ()), feature_representation_()</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;            {</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;            }</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;      </div>
<div class="line"><a name="l00190"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_features_1_1_feature_container.html#aadd732e469e13328e661f93a14d88464">  190</a></span>&#160;            <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_features_1_1_feature_container.html#aadd732e469e13328e661f93a14d88464">~FeatureContainer</a> () {}</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160; </div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;            <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;            setSourceFeature (<span class="keyword">const</span> FeatureCloudConstPtr &amp;source_features)</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;            {</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;              source_features_ = source_features;</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;            }</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;            </div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;            <span class="keyword">inline</span> FeatureCloudConstPtr </div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;            getSourceFeature ()</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;            {</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;              <span class="keywordflow">return</span> (source_features_);</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;            }</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;            </div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;            <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;            setTargetFeature (<span class="keyword">const</span> FeatureCloudConstPtr &amp;target_features)</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;            {</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;              target_features_ = target_features;</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;            }</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;            </div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;            <span class="keyword">inline</span> FeatureCloudConstPtr </div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;            getTargetFeature ()</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;            {</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;              <span class="keywordflow">return</span> (target_features_);</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;            }</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;            </div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;            <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;            setDistanceThreshold (<span class="keywordtype">double</span> thresh)</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;            {</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;              thresh_ = thresh;</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;            }</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160; </div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;            <span class="keyword">virtual</span> <span class="keyword">inline</span> <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;            isValid ()</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;            {</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;              <span class="keywordflow">if</span> (!source_features_ || !target_features_)</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;                <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;              <span class="keywordflow">else</span></div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;                <span class="keywordflow">return</span> (source_features_-&gt;points.size () &gt; 0 &amp;&amp; </div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;                        target_features_-&gt;points.size () &gt; 0);</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;            }</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160; </div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;            <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00236"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_features_1_1_feature_container.html#a81ed4b1636387b6268b9eb0e9a321695">  236</a></span>&#160;            <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_features_1_1_feature_container.html#a81ed4b1636387b6268b9eb0e9a321695">setFeatureRepresentation</a> (<span class="keyword">const</span> PointRepresentationConstPtr &amp;fr)</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;            {</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;              feature_representation_ = fr;</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;            }</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160; </div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;            <span class="keyword">virtual</span> <span class="keyword">inline</span> <span class="keywordtype">double</span></div>
<div class="line"><a name="l00246"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_features_1_1_feature_container.html#a7020f6571847ec48015991da59703986">  246</a></span>&#160;            <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_features_1_1_feature_container.html#a7020f6571847ec48015991da59703986">getCorrespondenceScore</a> (<span class="keywordtype">int</span> index)</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;            {</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;              <span class="comment">// If no feature representation was given, reset to the default implementation for FeatureT</span></div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;              <span class="keywordflow">if</span> (!feature_representation_)</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;                feature_representation_.reset (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_default_feature_representation.html">DefaultFeatureRepresentation&lt;FeatureT&gt;</a>);</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160; </div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;              <span class="comment">// Get the source and the target feature from the list</span></div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;              <span class="keyword">const</span> FeatureT &amp;feat_src = source_features_-&gt;points[index];</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;              <span class="keyword">const</span> FeatureT &amp;feat_tgt = target_features_-&gt;points[index];</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160; </div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;              <span class="comment">// Check if the representations are valid</span></div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;              <span class="keywordflow">if</span> (!feature_representation_-&gt;isValid (feat_src) || !feature_representation_-&gt;isValid (feat_tgt))</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;              {</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;                PCL_ERROR (<span class="stringliteral">&quot;[pcl::registration::%s::getCorrespondenceScore] Invalid feature representation given!\n&quot;</span>, this-&gt;getClassName ().c_str ());</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;                <span class="keywordflow">return</span> (std::numeric_limits&lt;double&gt;::max ());</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;              }</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160; </div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;              <span class="comment">// Set the internal feature point representation of choice</span></div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;              Eigen::VectorXf feat_src_ptr = Eigen::VectorXf::Zero (feature_representation_-&gt;getNumberOfDimensions ());</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;              feature_representation_-&gt;vectorize (FeatureT (feat_src), feat_src_ptr);</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;              Eigen::VectorXf feat_tgt_ptr = Eigen::VectorXf::Zero (feature_representation_-&gt;getNumberOfDimensions ());</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;              feature_representation_-&gt;vectorize (FeatureT (feat_tgt), feat_tgt_ptr);</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160; </div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;              <span class="comment">// Compute the L2 norm</span></div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;              <span class="keywordflow">return</span> ((feat_src_ptr - feat_tgt_ptr).squaredNorm ());</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;            }</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160; </div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;            <span class="keyword">virtual</span> <span class="keyword">inline</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00279"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_features_1_1_feature_container.html#a0a72b1dc82801bf2aac6945cf7a00394">  279</a></span>&#160;            <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_features_1_1_feature_container.html#a0a72b1dc82801bf2aac6945cf7a00394">isCorrespondenceValid</a> (<span class="keywordtype">int</span> index)</div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;            {</div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;              <span class="keywordflow">if</span> (getCorrespondenceScore (index) &lt; thresh_ * thresh_)</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;                <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;              <span class="keywordflow">else</span></div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;                <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;            }</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;             </div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;          <span class="keyword">private</span>:</div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;            FeatureCloudConstPtr source_features_, target_features_;</div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;            SearchMethod search_method_;</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160; </div>
<div class="line"><a name="l00292"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_features_1_1_feature_container.html#ad1e889733d8e8bbdad50ee271c42a5d0">  292</a></span>&#160;            <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_features_1_1_feature_container.html#ad1e889733d8e8bbdad50ee271c42a5d0">thresh_</a>;</div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160; </div>
<div class="line"><a name="l00295"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_features_1_1_feature_container.html#aa0e5a4121c4e671718e654d80d7e0d5f">  295</a></span>&#160;            PointRepresentationConstPtr <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_features_1_1_feature_container.html#aa0e5a4121c4e671718e654d80d7e0d5f">feature_representation_</a>;</div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;        };</div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;    };</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;  }</div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;}</div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160; </div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;<span class="preprocessor">#include &lt;pcl/registration/impl/correspondence_rejection_features.hpp&gt;</span></div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160; </div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;<span class="preprocessor">#endif </span><span class="comment">/* PCL_REGISTRATION_CORRESPONDENCE_REJECTION_FEATURES_H_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="aclasspcl_1_1_default_feature_representation_html"><div class="ttname"><a href="classpcl_1_1_default_feature_representation.html">pcl::DefaultFeatureRepresentation</a></div><div class="ttdoc">DefaulFeatureRepresentation extends PointRepresentation and is intended to be used when defining the ...</div><div class="ttdef"><b>Definition:</b> point_representation.h:222</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt; FeatureT &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_features_1_1_feature_container_html"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_features_1_1_feature_container.html">pcl::registration::CorrespondenceRejectorFeatures::FeatureContainer</a></div><div class="ttdoc">An inner class containing pointers to the source and target feature clouds and the parameters needed ...</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_features.h:177</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_features_1_1_feature_container_html_a0a72b1dc82801bf2aac6945cf7a00394"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_features_1_1_feature_container.html#a0a72b1dc82801bf2aac6945cf7a00394">pcl::registration::CorrespondenceRejectorFeatures::FeatureContainer::isCorrespondenceValid</a></div><div class="ttdeci">virtual bool isCorrespondenceValid(int index)</div><div class="ttdoc">Check whether the correspondence pair at the given index is valid by computing the score and testing ...</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_features.h:279</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_features_1_1_feature_container_html_a7020f6571847ec48015991da59703986"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_features_1_1_feature_container.html#a7020f6571847ec48015991da59703986">pcl::registration::CorrespondenceRejectorFeatures::FeatureContainer::getCorrespondenceScore</a></div><div class="ttdeci">virtual double getCorrespondenceScore(int index)</div><div class="ttdoc">Obtain a score between a pair of correspondences.</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_features.h:246</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_features_1_1_feature_container_html_a81ed4b1636387b6268b9eb0e9a321695"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_features_1_1_feature_container.html#a81ed4b1636387b6268b9eb0e9a321695">pcl::registration::CorrespondenceRejectorFeatures::FeatureContainer::setFeatureRepresentation</a></div><div class="ttdeci">void setFeatureRepresentation(const PointRepresentationConstPtr &amp;fr)</div><div class="ttdoc">Provide a boost shared pointer to a PointRepresentation to be used when comparing features</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_features.h:236</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_features_1_1_feature_container_html_aa0e5a4121c4e671718e654d80d7e0d5f"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_features_1_1_feature_container.html#aa0e5a4121c4e671718e654d80d7e0d5f">pcl::registration::CorrespondenceRejectorFeatures::FeatureContainer::feature_representation_</a></div><div class="ttdeci">PointRepresentationConstPtr feature_representation_</div><div class="ttdoc">The internal point feature representation used.</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_features.h:295</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_features_1_1_feature_container_html_aadd732e469e13328e661f93a14d88464"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_features_1_1_feature_container.html#aadd732e469e13328e661f93a14d88464">pcl::registration::CorrespondenceRejectorFeatures::FeatureContainer::~FeatureContainer</a></div><div class="ttdeci">virtual ~FeatureContainer()</div><div class="ttdoc">Empty destructor</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_features.h:190</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_features_1_1_feature_container_html_ad1e889733d8e8bbdad50ee271c42a5d0"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_features_1_1_feature_container.html#ad1e889733d8e8bbdad50ee271c42a5d0">pcl::registration::CorrespondenceRejectorFeatures::FeatureContainer::thresh_</a></div><div class="ttdeci">double thresh_</div><div class="ttdoc">The L2 squared Euclidean threshold.</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_features.h:292</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_features_1_1_feature_container_interface_html"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_features_1_1_feature_container_interface.html">pcl::registration::CorrespondenceRejectorFeatures::FeatureContainerInterface</a></div><div class="ttdef"><b>Definition:</b> correspondence_rejection_features.h:155</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_features_1_1_feature_container_interface_html_af793f259a122a8399ea95b04c0254fdf"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_features_1_1_feature_container_interface.html#af793f259a122a8399ea95b04c0254fdf">pcl::registration::CorrespondenceRejectorFeatures::FeatureContainerInterface::~FeatureContainerInterface</a></div><div class="ttdeci">virtual ~FeatureContainerInterface()</div><div class="ttdoc">Empty destructor</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_features.h:158</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_features_html"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_features.html">pcl::registration::CorrespondenceRejectorFeatures</a></div><div class="ttdoc">CorrespondenceRejectorFeatures implements a correspondence rejection method based on a set of feature...</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_features.h:61</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_features_html_a0a544016dcac95c834bee6cd0e7aaf33"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_features.html#a0a544016dcac95c834bee6cd0e7aaf33">pcl::registration::CorrespondenceRejectorFeatures::max_distance_</a></div><div class="ttdeci">float max_distance_</div><div class="ttdoc">The maximum distance threshold between two correspondent points in source &lt;-&gt; target....</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_features.h:152</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_features_html_a145abbc175dcab4a0b1137200ba48b45"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_features.html#a145abbc175dcab4a0b1137200ba48b45">pcl::registration::CorrespondenceRejectorFeatures::hasValidFeatures</a></div><div class="ttdeci">bool hasValidFeatures()</div><div class="ttdoc">Test that all features are valid (i.e., does each key have a valid source cloud, target cloud,...</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_features_html_a165aeb9ae326d7114847d65f18213c58"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_features.html#a165aeb9ae326d7114847d65f18213c58">pcl::registration::CorrespondenceRejectorFeatures::getRemainingCorrespondences</a></div><div class="ttdeci">void getRemainingCorrespondences(const pcl::Correspondences &amp;original_correspondences, pcl::Correspondences &amp;remaining_correspondences)</div><div class="ttdoc">Get a list of valid correspondences after rejection from the original set of correspondences</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_features_html_a174740d3c2fc148de02786f973400358"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_features.html#a174740d3c2fc148de02786f973400358">pcl::registration::CorrespondenceRejectorFeatures::CorrespondenceRejectorFeatures</a></div><div class="ttdeci">CorrespondenceRejectorFeatures()</div><div class="ttdoc">Empty constructor.</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_features.h:71</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_features_html_a5b0f8c3768a14e5d0d398856babab7dd"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_features.html#a5b0f8c3768a14e5d0d398856babab7dd">pcl::registration::CorrespondenceRejectorFeatures::applyRejection</a></div><div class="ttdeci">void applyRejection(pcl::Correspondences &amp;correspondences)</div><div class="ttdoc">Apply the rejection algorithm.</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_features.h:144</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_features_html_a6f76384a2a270cbf2822287dc91fdc32"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_features.html#a6f76384a2a270cbf2822287dc91fdc32">pcl::registration::CorrespondenceRejectorFeatures::features_map_</a></div><div class="ttdeci">FeaturesMap features_map_</div><div class="ttdoc">An STL map containing features to use when performing the correspondence search.</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_features.h:167</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_features_html_abde5395e3dc6b27a1e876be81b981787"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_features.html#abde5395e3dc6b27a1e876be81b981787">pcl::registration::CorrespondenceRejectorFeatures::~CorrespondenceRejectorFeatures</a></div><div class="ttdeci">virtual ~CorrespondenceRejectorFeatures()</div><div class="ttdoc">Empty destructor.</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_features.h:77</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_html"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector.html">pcl::registration::CorrespondenceRejector</a></div><div class="ttdef"><b>Definition:</b> correspondence_rejection.h:60</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_html_a74d516ca516f7421fd86a53dec1a57b1"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector.html#a74d516ca516f7421fd86a53dec1a57b1">pcl::registration::CorrespondenceRejector::input_correspondences_</a></div><div class="ttdeci">CorrespondencesConstPtr input_correspondences_</div><div class="ttdoc">The input correspondences.</div><div class="ttdef"><b>Definition:</b> correspondence_rejection.h:191</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_html_aa5996af869d7aaa6b8b8dc156038dd3f"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector.html#aa5996af869d7aaa6b8b8dc156038dd3f">pcl::registration::CorrespondenceRejector::getClassName</a></div><div class="ttdeci">const std::string &amp; getClassName() const</div><div class="ttdoc">Get a string representation of the name of this class.</div><div class="ttdef"><b>Definition:</b> correspondence_rejection.h:135</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_html_ab97eb70d3661574301fe1f978576726d"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector.html#ab97eb70d3661574301fe1f978576726d">pcl::registration::CorrespondenceRejector::rejection_name_</a></div><div class="ttdeci">std::string rejection_name_</div><div class="ttdoc">The name of the rejection method.</div><div class="ttdef"><b>Definition:</b> correspondence_rejection.h:188</div></div>
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